Design, Development and Validation of a Dynamic Fall Prediction System for Excavators

Argiolas, Alfredo; Casini, Simona; Fujio, Kazuhiro; Hiramatsu, Toshifumi; Morita, Satoshi; Ragaglia, Matteo; Sugiura, Hisashi; Niccolini, Marta

doi:10.1109/icra48506.2021.9560796

Cited by 5 publications

(6 citation statements)

References 24 publications

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“…Using the ZMP-based stability criterion from paper [9], paper [10] reported that the ZMP is a less sensitive indicator than the Force-Angle (FA) or Moment-Height Stability (MHS) for certain mobile manipulators. However, ZMP has proven to be helpful in on-line trajectory planning both for light and heavy mobile manipulators [11]- [13] and for quadrupedal ones with wheels [14]. It contrasts the full-dynamics modelling narrative promoted here, with the primary aim being deriving expressions for supporting forces.…”

Section: Literature Reviewmentioning

confidence: 99%

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Petrović

Mattila

2022

IEEE Access

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When a mobile manipulator's wheel loses contact with the ground, the manipulator may overturn, causing material damage, and in the worst case, putting human lives in danger. The overturning stability of wheeled mobile manipulators must not be overlooked at any stage of the mobile manipulator's life, starting from the design phase, continuing through the commissioning period and extending to the operational phase. The various overturning stability criteria formulated throughout the years do not explicitly consider normal wheel loads, with most of them relying on the prescribed stability margins in terms of overturning moments. These formulations commonly consider the overturning moments regarding axes connecting the adjacent manipulator's contact points with the ground and could be notably restrictive. Explicit expressions for the supporting forces of the manipulator provide the best insights into the relevant affecting terms that contribute to the overturning (in)stability. They also reduce the necessity for considering about which axis the manipulator could overturn and simultaneously enable the formulation of more intuitive stability margins and on-line overturning prevention techniques. The present study presents a general dynamics modelling approach in the Newton-Euler framework using 6D vectors and provides normal wheel load equations for a typical 4-wheeled rigid-chassis mobile manipulator traversing uneven terrain. The given expressions are expected to become the standard guidelines in considered wheeled mobile manipulators and to provide a basis for effective overturning stability criteria and overturning avoidance techniques. Based on the presented results, specific improvements of the state-of-the-art criteria are discussed.

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Section: Literature Reviewmentioning

confidence: 99%

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Petrović

Mattila

2022

IEEE Access

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“…For base-stationary manipulations specifically, rollover prediction systems were developed in [14]- [16] to achieve safe truck-trailer and excavator operations. However, [14] and [15] carried static stability assumptions in their treatment of the rollover-avoidance issue and [16] is focused on the rollover-free modification of a human tele-operator's control input using normalized energy (NE) stability measure, without considering autonomous manipulation planning. None of the aforementioned works apply to more complex manipulation tasks where the autonomous manipulator moves fast and the loads are heavy.…”

Section: B Related Literaturementioning

confidence: 99%

“…As illustrated by the inequality ( 14) in Section IV-A, once γ has been determined from (15), the following inequality:…”

Section: B Chance-constrained Rollover Avoidancementioning

confidence: 99%

Chance-Constrained Rollover-Free Manipulation Planning With Uncertain Payload Mass

Song,

Petraki,

DeHart

et al. 2024

IEEE/ASME Trans. Mechatron.

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This paper presents a chance-constrained rollover-free manipulation planning method for robotic arms under payload mass uncertainty. The corresponding motion planning problem is stated as a chance-constrained nonlinear optimal control problem (NOCP) subject to kinematics and rollover stability constraints. The latter takes the form of a chance constraint that ensures a certain probability of the robot maintaining dynamic rollover stability in the presence of payload mass uncertainty. To achieve efficient solutions to the NOCP, a novel geometric bound for the stability region is derived. The novel bound is then utilized to modify the rollover-stability constraint. To showcase its benefit, comparisons between the proposed bound of probabilistic rollover stability measure and the naive noise model are provided through statistical analysis. The formulation's practicality is demonstrated through experiments with a Kinova Jaco 2 arm mounted on a free-to-roll platform. Results demonstrate greater robustness of the robot's motion plan to mass uncertainty and computational efficiency of the trajectory generation. ÂHosted file

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“…As illustrated by the inequality (14) in Section IV-A, once γ has been determined from (15), the following inequality:…”

Section: B Chance-constrained Rollover Avoidancementioning

confidence: 99%

Chance-Constrained Rollover-Free Manipulation Planning with Uncertain Payload Mass

Song¹,

Petraki²,

DeHart³

et al. 2023

Preprint

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<p>This paper presents a chance-constrained rollover-free manipulation planning method for robotic arms under payload mass uncertainty. The corresponding motion planning problem is stated as a chance-constrained nonlinear optimal control problem (NOCP) subject to kinematics and rollover stability constraints. The latter takes the form of a chance constraint that ensures a certain probability of the robot maintaining dynamic rollover stability in the presence of payload mass uncertainty. To achieve efficient solutions to the NOCP, a novel geometric bound for the stability region is derived. The novel bound is then utilized to modify the rollover-stability constraint. To showcase its benefit, comparisons between the proposed bound of probabilistic rollover stability measure and the naive noise model are provided through statistical analysis. The formulation's practicality is demonstrated through experiments with a Kinova Jaco 2 arm mounted on a free-to-roll platform. Results demonstrate greater robustness of the robot's motion plan to mass uncertainty and computational efficiency of the trajectory generation. </p>

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Design, Development and Validation of a Dynamic Fall Prediction System for Excavators

Cited by 5 publications

References 24 publications

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Chance-Constrained Rollover-Free Manipulation Planning With Uncertain Payload Mass

Chance-Constrained Rollover-Free Manipulation Planning with Uncertain Payload Mass

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